EP2507104B1 - Method and system for controlling a vehicle cruise control - Google Patents
Method and system for controlling a vehicle cruise control Download PDFInfo
- Publication number
- EP2507104B1 EP2507104B1 EP09799246.5A EP09799246A EP2507104B1 EP 2507104 B1 EP2507104 B1 EP 2507104B1 EP 09799246 A EP09799246 A EP 09799246A EP 2507104 B1 EP2507104 B1 EP 2507104B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- parameter
- registered
- cruise control
- bcc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 15
- 238000012876 topography Methods 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001934 delay Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Definitions
- the present invention relates to a method for controlling a cruise control in a vehicle, in accordance with the preamble of the accompanying claim 1.
- the invention also relates to a vehicle cruise control system intended for such method for controlling said cruise control, in accordance with the preamble of the accompanying claim 3.
- the present invention also relates to a computer program, computer program product and a storage medium for a computer all to be used with a computer for executing said method.
- Motor vehicles such as cars, lorries, towing vehicles and buses, are often provided with a so-called cruise control system, also denominated speed control system, for automatically controlling the vehicle speed.
- a cruise control system comprises means, such as a speed sensor, for monitoring the actual vehicle speed.
- the cruise control system compares the actual vehicle speed with a set target speed.
- the target speed may for instance be entered into the cruise control system as the prevailing actual vehicle speed when a set switch is actuated by the driver.
- the cruise control system generates an error signal by comparing the actual vehicle speed with the target speed.
- the error signal is then for instance used to control an actuator coupled to the fuel pump or to the vehicle throttle in order to change the engine speed until the error signal is substantially zero, i.e. until the actual vehicle speed is equal to the target speed.
- EP 1439976 and US6990401 disclose two examples of prior art where the cruise control system is a predictive cruise control system utilizing information about current vehicle position and upcoming road topography, that is for example gradients or elevation values for the coming road, in order to control throttle opening in such a way as to increase fuel effciency.
- a cruise control system can also comprise a brake cruise control, which means that the cruise control system automatically brakes the vehicle, with for example auxiliary brakes and/or service brakes, when a set vehicle overspeed has been exceeded.
- a problem with such a system can be that the system starts to brake fully some km/h above said set vehicle overspeed. The delay is due to comfort reasons and mechanical delays. This leads to that the driver typically decreases the set vehicle overspeed in order not to risk to high overspeeds, especially when the vehicle is heavily loaded and/ or the downhill is steep. This has a negative effect on fuel consumption, due to that a decreased set vehicle overspeed results in a decreased use of the kinetic energy of said vehicle. Alternatively the driver manually brakes the vehicle, which leads to inactivation of the cruise control.
- JP6135260 A solution that to some extent milders the effects of said problem is disclosed in JP6135260 , where a control unit registers vehicle gross weight and road inclination in order to adjust the braking power in the brake cruise control.
- Generic WO2008094112 and WO2009126554 disclose further relevant prior art.
- the object of the present invention is to further develop such a cruise control system where information about current vehicle condition is used for a better control of a brake cruise control.
- the invention also relates to a cruise control system that comprises (includes, but is not necessarily limited to) a control unit arranged for performing said method steps.
- a cruise control system for automatically controlling the vehicle speed can be arranged in a vehicle according to known art.
- Said cruise control system comprises a control unit for continually processing input signals and deliver output signals to, for example a propulsion unit control for controlling a propulsion unit and if installed also a brake control unit for controlling braking devices in said vehicle in order to maintain a set vehicle speed.
- Said braking devices can be a service brake and/or auxiliary brake and/or an electric motor/generator (if for example the vehicle is equipped with a hybrid propulsion system).
- Said vehicle cruise control system further comprises at least a driver input interface.
- Said control unit is arranged to perform steps of below described inventive functions with the use of information about current vehicle condition.
- a cruise control in said vehicle is set to maintain v cc set target speed .
- This can be set by the driver.
- said control unit in said cruise control system is arranged to maintain said V cc set target speed .
- a maximum vehicle overspeed v bcc can also be set by the driver in order for the control unit to initiate braking of said vehicle if vehicle speed approaches said v bcc .
- This functionality is known as such and is also called brake cruise control.
- Said maximum vehicle overspeed v bcc for said vehicle cruise control can be set to be at least equal to or higher than said vehicle set target speed. In below described inventive embodiments v bcc is set higher than v cc set target speed .
- v cc set target speed and v bcc are set by the driver.
- A, B and C disclose examples of different parts of a road distance with typical examples of different vehicle travelling conditions during said road distance.
- Vehicle speed curve 1 discloses how the actual vehicle speed varies/is controlled during said road distance.
- the vehicle travelling condition corresponds to a relatively horizontal road and as the vehicle speed curve 1 discloses the cruise control is during this part able to maintain v c set target speed .
- the vehicle travelling condition corresponds to a steep downhill road and as shown by vehicle speed curve 1 the vehicle speed increases.
- said control unit is programmed during this initial part of B to register said first parameter and said second parameter, and based on said registered parameters said control unit is programmed to adjust the set v bcc to a new value, disclosed in figure 1 as vehicle speed level v bcc flex .
- the benefit is that a vehicle speed increase resulting in a vehicle speed that exceeds v bcc due to delays in the cruise control and braking devices can be avoided.
- Said second parameter is here said to be current road inclination. This road inclination can of course also be a part in for example measured travelling resistance, which usually comprise air resistance, rolling reistance and said road inclination.
- Figure 1 discloses an example where the vehicle in the initial part of B enters a steep downhill.
- the control unit registers a steep downhill the v bcc is decreased to v bcc flex .
- the calculated and selected degree of decreased v bcc is mainly dependent of the following variables:
- control unit can be programmed to increase v bcc when such vehicle travelling conditions are prevailing which allows such an increase.
- v bcc flex where the braking devices are activated in order to decrease acceleration and level out on v bcc flex .
- said braking devices are activated slightly before the vehicle reaches v bcc flex . In this way overshooting of v bcc flex is avoided.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Transmission Device (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2009/008507 WO2011063823A1 (en) | 2009-11-30 | 2009-11-30 | Method and system for controlling a vehicle cruise control |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2507104A1 EP2507104A1 (en) | 2012-10-10 |
EP2507104B1 true EP2507104B1 (en) | 2015-04-08 |
Family
ID=42040668
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09799246.5A Active EP2507104B1 (en) | 2009-11-30 | 2009-11-30 | Method and system for controlling a vehicle cruise control |
Country Status (8)
Country | Link |
---|---|
US (1) | US20120283928A1 (zh) |
EP (1) | EP2507104B1 (zh) |
JP (1) | JP5586703B2 (zh) |
CN (1) | CN102753416B (zh) |
BR (1) | BR112012012741B1 (zh) |
ES (1) | ES2541322T3 (zh) |
RU (1) | RU2532988C2 (zh) |
WO (1) | WO2011063823A1 (zh) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9096229B2 (en) * | 2009-07-02 | 2015-08-04 | Volvo Lastvagnar Ab | Method and system for controlling a vehicle cruise control |
DE102011012418A1 (de) | 2011-02-25 | 2012-08-30 | Still Gmbh | Schlepper |
SE536264C2 (sv) * | 2011-12-22 | 2013-07-23 | Scania Cv Ab | Metod och modul för att styra ett fordons hastighet genom simulering |
CN102555807B (zh) * | 2012-03-26 | 2014-09-03 | 中联重科股份有限公司 | 工程车辆、工程车辆的车速控制系统及车速控制方法 |
SE536464C2 (sv) * | 2012-04-02 | 2013-11-26 | Scania Cv Ab | Förfarande och system för justering av börvärden för hastighetsreglering av ett fordon |
US8740744B2 (en) | 2012-05-07 | 2014-06-03 | Ford Global Technologies, Llc | Adjusting motor torque to compensate for uphill and downhill demands during cruise control in hybrid vehicle |
WO2014027109A1 (en) * | 2012-08-16 | 2014-02-20 | Jaguar Land Rover Limited | Speed control system and method of operating the same |
US9914454B2 (en) | 2012-12-07 | 2018-03-13 | Kelsey-Hayes Company | Vehicle speed control system |
US20170129467A1 (en) * | 2014-06-24 | 2017-05-11 | Volvo Truck Corporation | An arrangement and method for supporting a cruise control brake in a vehicle |
WO2015197092A1 (en) | 2014-06-27 | 2015-12-30 | Volvo Truck Corporation | An arrangement and method for a cruise control brake in a vehicle |
US9393963B2 (en) | 2014-09-19 | 2016-07-19 | Paccar Inc | Predictive cruise control system with advanced operator control and feedback |
JP6183331B2 (ja) * | 2014-10-20 | 2017-08-23 | 株式会社アドヴィックス | 車両の走行制御装置 |
KR101693947B1 (ko) * | 2014-12-26 | 2017-01-06 | 현대자동차주식회사 | 하이브리드 차량의 회생제동시 운전점 제어 방법 |
US10647320B2 (en) * | 2015-08-28 | 2020-05-12 | Volvo Truck Corporation | Method and a system for controlling vehicle speed |
WO2017075578A1 (en) | 2015-10-30 | 2017-05-04 | Cummins, Inc. | Systems and methods for idle coasting management |
US10023188B2 (en) * | 2015-11-09 | 2018-07-17 | Cummins Inc. | Systems and methods for pre-hill cruise speed adjustment |
DE102015015923A1 (de) | 2015-12-09 | 2017-06-14 | Wabco Gmbh | Verfahren zum adaptiven Regeln einer Fahrzeuggeschwindigkeit in einem Fahrzeug sowie Geschwindigkeitsregelanlage zum Durchführen des Verfahrens |
CN108803625B (zh) * | 2018-08-09 | 2021-07-23 | 北京智行者科技有限公司 | 一种行驶方法 |
WO2020055677A1 (en) | 2018-09-13 | 2020-03-19 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
US20210031782A1 (en) * | 2019-08-01 | 2021-02-04 | 7980302 Canada Inc. | Using ISA System to Immobilize Truck for Security, Regulatory Compliance, or Maintenance |
US11572067B2 (en) | 2019-08-30 | 2023-02-07 | 7980302 Canada Inc. | Using ISA system to decelerate truck upon entering geofenced area |
US11702083B2 (en) | 2020-06-11 | 2023-07-18 | 7980302 Canada Inc. | Using ISA system to implement a speed policy identified based on profile of a driving instance |
EP3936399B1 (en) | 2020-07-10 | 2023-06-07 | Volvo Truck Corporation | A method for controlling a vehicle |
CN113246726B (zh) * | 2020-09-22 | 2022-05-17 | 河南嘉晨智能控制股份有限公司 | 一种基于动态规划的行驶安全控制方法 |
CN113492854B (zh) * | 2021-07-22 | 2022-07-29 | 上汽通用五菱汽车股份有限公司 | 自适应巡航控制方法、装置及计算机可读存储介质 |
US12077156B2 (en) * | 2022-05-18 | 2024-09-03 | Ford Global Technologies, Llc | Adaptive cruise control with load |
Family Cites Families (22)
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JPS6277237A (ja) * | 1985-09-30 | 1987-04-09 | Fujitsu Ten Ltd | 自動車用速度制御装置 |
SU1625723A1 (ru) * | 1988-07-01 | 1991-02-07 | Могилевский Машиностроительный Институт | Система автоматического управлени скоростными и нагрузочными режимами самоходной машины |
US5070959A (en) * | 1989-11-20 | 1991-12-10 | General Electric Company | Work vehicle having an electric propulsion system with adapted overspeed limit for traction motors |
JPH04191132A (ja) * | 1990-11-26 | 1992-07-09 | Mitsubishi Electric Corp | 車両の走行抵抗検出装置 |
JP2696027B2 (ja) * | 1991-12-12 | 1998-01-14 | 三菱電機株式会社 | 車両用定速走行制御装置 |
JPH06135260A (ja) * | 1992-10-23 | 1994-05-17 | Komatsu Ltd | 降坂時車速自動制御装置 |
SE504467C2 (sv) * | 1995-06-07 | 1997-02-17 | Volvo Ab | Farthållaranordning för motorfordon |
JP3743692B2 (ja) * | 1997-03-26 | 2006-02-08 | 株式会社小松製作所 | リターダ自動制御装置 |
SE515632C2 (sv) * | 2000-01-31 | 2001-09-17 | Nobel Biocare Ab | Förfarande och anordning vid superstruktur till implantat |
SE520400C2 (sv) * | 2001-10-31 | 2003-07-08 | Volvo Lastvagnar Ab | Farthållare i motorfordon |
US6785611B2 (en) * | 2002-08-01 | 2004-08-31 | Visteon Global Technologies, Inc. | Driver alert for vehicle with adaptive cruise control system |
US6882923B2 (en) * | 2002-10-17 | 2005-04-19 | Ford Global Technologies, Llc | Adaptive cruise control system using shared vehicle network data |
SE0400605L (sv) * | 2004-03-09 | 2005-01-25 | Volvo Lastvagnar Ab | Metod, system och datorprogram för automatisk frihjulning av fordon |
JP4792801B2 (ja) * | 2005-04-21 | 2011-10-12 | 株式会社アドヴィックス | 車両の速度制御装置 |
US7853388B2 (en) * | 2006-02-23 | 2010-12-14 | Siemens Industry, Inc. | Devices, systems, and methods for controlling a braking system |
US20070265759A1 (en) * | 2006-05-09 | 2007-11-15 | David Salinas | Method and system for utilizing topographical awareness in an adaptive cruise control |
SE530805C2 (sv) * | 2007-01-30 | 2008-09-16 | Scania Cv Abp | Farthållarsystem och förfarande för reglering av målhastigheten hos ett farthållarsystem |
US8165774B2 (en) * | 2007-06-07 | 2012-04-24 | GM Global Technology Operations LLC | Cruise control interaction with deceleration fuel cutoff |
US7703563B2 (en) * | 2007-07-02 | 2010-04-27 | Gm Global Technology Operations, Inc. | Control of hybrid power regeneration during cruise control |
JP2009154620A (ja) * | 2007-12-25 | 2009-07-16 | Fujitsu Ten Ltd | 内燃機関の電子制御装置及び速度制御方法 |
US8214122B2 (en) * | 2008-04-10 | 2012-07-03 | GM Global Technology Operations LLC | Energy economy mode using preview information |
US8401753B2 (en) * | 2009-11-23 | 2013-03-19 | Caterpillar Inc. | Automatic downhill speed control system |
-
2009
- 2009-11-30 US US13/512,530 patent/US20120283928A1/en not_active Abandoned
- 2009-11-30 WO PCT/EP2009/008507 patent/WO2011063823A1/en active Application Filing
- 2009-11-30 JP JP2012540288A patent/JP5586703B2/ja active Active
- 2009-11-30 RU RU2012127086/11A patent/RU2532988C2/ru active
- 2009-11-30 ES ES09799246.5T patent/ES2541322T3/es active Active
- 2009-11-30 BR BR112012012741A patent/BR112012012741B1/pt active IP Right Grant
- 2009-11-30 EP EP09799246.5A patent/EP2507104B1/en active Active
- 2009-11-30 CN CN200980162674.9A patent/CN102753416B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20120283928A1 (en) | 2012-11-08 |
CN102753416A (zh) | 2012-10-24 |
CN102753416B (zh) | 2015-04-15 |
BR112012012741A2 (pt) | 2016-08-30 |
JP2013512138A (ja) | 2013-04-11 |
RU2532988C2 (ru) | 2014-11-20 |
ES2541322T3 (es) | 2015-07-17 |
RU2012127086A (ru) | 2014-01-10 |
BR112012012741B1 (pt) | 2019-12-10 |
WO2011063823A1 (en) | 2011-06-03 |
WO2011063823A8 (en) | 2012-07-26 |
EP2507104A1 (en) | 2012-10-10 |
JP5586703B2 (ja) | 2014-09-10 |
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